Publication Cover
Cybernetics and Systems
An International Journal
Volume 47, 2016 - Issue 6
141
Views
5
CrossRef citations to date
0
Altmetric
Original Articles

Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances

, &
Pages 445-459 | Published online: 15 Jun 2016

References

  • Arbulu, M. 2009. Stable locomotion of humanoid robots based on mass concentrated model. PhD thesis, University Carlos III of Madrid.
  • Arbulú, M., C. Balaguer, C. Monje, S. Martínez, and A. Jardón. 2010. Aiming for multibody dynamics on stable humanoid motion with special Euclideans groups. Paper presented at the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18–22.
  • Bueno, J. G., M. G. Fierro, L. Moreno, and C. Balaguer. 2012. Facial gesture recognition using active appearance models based on neural evolution. Paper presented at the 2012 International Conference on Human–Robot Interaction (HRI 2012), Boston, MA, March 5–8.
  • Buslowicz, M. 2008. Stability of linear continuous-time fractional order systems with delays of the retarded type. Bulletin of the Polish Academy of Technical Sciences 56 (4):319–324.
  • Caponetto, R., G. Dongola, L. Fortuna, and A. Gallo. 2010. New results on the synthesis of FO-PID controllers. Communications in Nonlinear Science and Numerical Simulation 15:997–1007. doi:10.1016/j.cnsns.2009.05.040
  • Huang, F., L. Wang, and Q. He. 2007. An effective co-evolutionary differential evolution for constrained optimization. Applied Mathematics and Computation 186 (1):340–56. doi:10.1016/j.amc.2006.07.105
  • Kajita, S., F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa. 2003. Biped walking pattern generation by using preview control of zero-moment point. In IEEE international conference on robotics and automation (ICRA’2003) 2:1620–26. Taipei, Taiwan: IEEE.
  • Kajita, S., F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa. 2001. The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation. Paper presented at the International Conference on Intelligent Robots and Systems (IROS’2001), Maui, HI, October 29–November 3.
  • Kajita, S., and K. Tani. 1991. Study of dynamic biped locomotion on rugged terrain-theory and basic experiment. Paper presented at the Fifth International Conference on Advanced Robotics (ICAR’1991), Pisa, Italy, June 19–22.
  • Kaynov, D., P. Soueres, P. Pierro, and C. Balaguer. 2009. A practical decoupled stabilizer for joint- position controlled humanoid robots. Paper presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2009), St. Louis, MO, October 11–15.
  • Khatib, O., L. Sentis, and J. H. Park. 2008. A unified framework for whole-body humanoid robot control with multiple constraints and contacts. European robotics symposium 2008, STAR 44, ed. H. Bruyninckx et al., 303–312. Berlin: Springer-Verlag.
  • Komura, T., H. Leung, S. Kudoh, and J. Kuffner. 2005. A feedback controller for biped humanoids that can counteract large perturbations during gait. Paper presented at the 2005 IEEE International Conference on Robotics and Automation (ICRA’2005), Barcelona, Spain, April 18–22.
  • Mistry, M., A. Murai, K. Yamane, and J. Hodgins. 2010. Sit-to-stand task on a humanoid robot from human demonstration. Paper presented at the 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids’2010), Nashville, TN, December 6–8.
  • Monje, C. A., Y. Q. Chen, D. Xue, B. M. Vinagre, and V. Feliu. 2010. Fractional-order systems and controls. fundamentals and applications (advances in industrial control). London: Springer-Verlag.
  • Monje, C. A., B. M. Vinagre, V. Feliu, and Y. Q. Chen. 2008. Tuning and auto-tuning of fractional order controllers for industry applications. Control Engineering Practice 16 (7):798–812. doi:10.1016/j.conengprac.2007.08.006
  • Moreno, L., S. Garrido, D. Blanco, and M. L. Muñoz. 2009. Differential evolution solution to the SLAM problem. Robotics and Autonomous Systems 57 (4):441–50. doi:10.1016/j.robot.2008.05.005
  • Oustaloup, A., F. Levron, B. Mathieu, and F. Nanot. 2000. Frequency-band complex noninteger differentiator: Characterization and synthesis. IEEE Transaction on Circuits and Systems I: Fundamental Theory and Applications 47 (1):25–40. doi:10.1109/81.817385
  • Pan, W., Chengzhi, X., and Zhun, F. 2004. Evolutionary linear control strategies of triple inverted pendulums and simulation studies. Paper presented at the Fifth World Congress on Intelligent Control and Automation (WCICA’2004), Hangzhou, China, June 15–19.
  • Podlubny, I. 1999a. Fractional differential equations. San Diego, CA: Academic Press.
  • Podlubny, I. 1999b. Fractional-order systems and PIλDμ controllers. IEEE Transactions on Automatic Control 44 (1):208–14. doi:10.1109/9.739144
  • Podlubny, I., L. Dorcak, and I. Kostial. 1997. On fractional derivatives, fractional order dynamic systems and PIλDμ controllers. Paper presented at the 36th IEEE Conference on Decision and Control, San Diego, CA, December 10–12.
  • Storn, R., and K. Price. 1997. Differential evolution – A simple and efficient heuristic for global optimization over continuous spaces. Journal of Global Optimization 11 (4):341–59. doi:10.1023/A:1008202821328
  • Tang, H., S. Xue, and C. Fan. 2008. Differential evolution strategy for structural system identification. Computers & Structures 86 (21–22):2004–12. doi:10.1016/j.compstruc.2008.05.001
  • Tsachouridis, V. A. 1999. Robust control of a triple inverted pendulum. 1999 IEEE international conference on control applications 2:1235–40. Hawaii: IEEE.
  • Xiaofeng, G., L. Hongxing, D. Guannan, and G. Haigang. 2009. Variable universe adaptive fuzzy control on the triple inverted pendulum and choosing contraction-expansion factor. Paper presented at the International Conference on Artificial Intelligence and Computational Intelligence (AICI’2009), Canberra, Australia, December 8–12.
  • Xue, F., A. C. Sanderson, and R. J. Graves. 2003. Pareto-based multi-objective differential evolution. Paper presented at the 2003 Congress on Evolutionary Computation (CEC’2003), Canberra, Australia, December 8–12.

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.